Mudra MK-I

3-DOF Arm

๐Ÿ“š Table of Contents (Click to Expand)


๐Ÿ“– Project Description

Mudra MK-โ…  is a gesture-controlled robotic arm developed as an educational and research initiative. It is engineered to automate repetitive tasks through intuitive hand gestures, making it ideal for learning environments and experimentation in human-machine interaction.

The robotic arm features a four-link structure - comprising a base, two articulated links, and an end effector - enabling reliable pick-and-place functionality.

Control is facilitated through a wearable glove interface, equipped with flex sensors and an accelerometer, which translate real-time hand movements into precise robotic actions.

๐ŸŒฑ Mudra MK-โ…  marks the beginning of our journey as a student innovation team. As our very first project, it represents not just technical achievement, but a shared vision โ€” to explore, learn, and build solutions that bridge creativity and engineering. This is the foundation upon which future ideas will grow.


โœจ Features

๐Ÿค– 4-Link Robotic Arm Structure ย ย ย ย โžค Enables precise and flexible movement

๐Ÿ–๏ธ Gesture-Based Control ย ย ย ย โžค Uses flex sensors and an accelerometer for intuitive interaction

๐Ÿ“ฆ Pick-and-Place Functionality ย ย ย ย โžค Automates repetitive tasks with ease

๐Ÿงญ Intuitive User Interface ย ย ย ย โžค Offers seamless and user-friendly control

Note:
The integration of a 4th link between the end effector and the robotic arm is part of our planned system expansion.
In the current release, the design has been optimized for stability, ease of control, and project timelines.
Full 4-link integration, offering enhanced dexterity and extended functionality, is scheduled for future updates.
Further design considerations and future rollout details are outlined in the DESIGN.MD file.


โš™๏ธ Installation Instructions

Once youโ€™ve uploaded both codes to the respective boards, your setup should be ready for further testing.


๐Ÿš€ Usage Instructions


๐Ÿ“‚ Folder Structure

Gesture-controlled-robotic-arm/
โ”‚   .gitattributes
โ”‚   .gitignore
โ”‚   CONTRIBUTING.md
โ”‚   LICENSE
โ”‚   README.md
โ”‚   requirements.txt
โ”‚
โ”œโ”€โ”€โ”€assets
โ”‚   โ”œโ”€โ”€โ”€icons
โ”‚   โ”‚       3-dof-arm.png
โ”‚   โ”‚       bill.png
โ”‚   โ”‚       binary-code.png
โ”‚   โ”‚       docs.png
โ”‚   โ”‚       pcb-board.png
โ”‚   โ”‚       schematic.png
โ”‚   โ”‚       testing.png
โ”‚   โ”‚
โ”‚   โ””โ”€โ”€โ”€images
โ”‚           feature-excluded.png
โ”‚           mechanical-assembly-ss-front.png
โ”‚           mechanical-assembly-ss.png
โ”‚           robotic-arm-front-view.jpg
โ”‚           robotic-arm-glove.jpg
โ”‚           robotic-arm-side-view.jpg
โ”‚           Screenshot 2025-02-11 091135.png
โ”‚           Screenshot 2025-02-11 091319.png
โ”‚
โ”œโ”€โ”€โ”€designs
โ”‚   โ”‚   BASE v14.step
โ”‚   โ”‚   Bill_of_Materials_Electrical.pdf
โ”‚   โ”‚   Bill_of_Materials_Mechanical.pdf
โ”‚   โ”‚   BOM.MD
โ”‚   โ”‚   DESIGN.MD
โ”‚   โ”‚   Schematic_Glove-Gesture-Controlled-Robotic-Arm_2025-04-26.pdf
โ”‚   โ”‚   Schematic_Power-Drive-Gesture-Controlled-Robotic-Arm_2025-04-26.pdf
โ”‚   โ”‚
โ”‚   โ””โ”€โ”€โ”€Solid-edge
โ”‚           BASE-v14-solid-edge.asm
โ”‚           BASE-v14-solid-edge.cfg
โ”‚
โ”œโ”€โ”€โ”€docs
โ”‚       DESIGN.html
โ”‚       README.html
โ”‚       BOM.html
โ”‚       TESTS.html
โ”œโ”€โ”€โ”€src
โ”‚       Glove.ino
โ”‚       Power_Drive.ino
โ”‚
โ””โ”€โ”€โ”€tests
    โ”‚   TESTS.MD
    โ”‚
    โ”œโ”€โ”€โ”€Embedded Systems
    โ”‚   โ”œโ”€โ”€โ”€COMPLETE
    โ”‚   โ”‚       COMPLETE.ino
    โ”‚   โ”‚
    โ”‚   โ”œโ”€โ”€โ”€DUAL-MPU6050
    โ”‚   โ”‚       DUAL-MPU6050.ino
    โ”‚   โ”‚
    โ”‚   โ””โ”€โ”€โ”€FLEX-SENSORS
    โ”‚           FLEX-SENSORS.ino
    โ”‚
    โ””โ”€โ”€โ”€Power Electronics
        โ”œโ”€โ”€โ”€complete
        โ”‚       complete.ino
        โ”‚
        โ”œโ”€โ”€โ”€complete-dynamic
        โ”‚       complete-dynamic.ino
        โ”‚
        โ”œโ”€โ”€โ”€nema_17_test
        โ”‚       nema_17_test.ino
        โ”‚
        โ””โ”€โ”€โ”€servo_test
                servo_test.ino
.

๐Ÿฆพ Project Showcase

Robotic Arm Front View

Robotic Arm Side View

Robotic Arm Glove View

Robotic Arm Assembly Animation

Watch on YouTube


๐Ÿ”ง Use Cases

๐Ÿ’ก Manufacturing โ†’ Automating repetitive tasks like assembly & packaging
๐Ÿ”ง Remote Operation in Hazardous Environments โ†’ Safely handling objects in high-risk areas such as labs or hot zones using remote gesture control ๐ŸŽ“ Education โ†’ Demonstrating robotics concepts in academic settings
๐Ÿงช Research โ†’ Exploring human-robot interaction and automation


๐Ÿ›ฃ๏ธ Future Plans


๐Ÿค Contributing


๐Ÿ“œ License

This project is licensed under the MIT License. Refer to the LICENSE file for more details.


๐Ÿ™ Acknowledgments

Engineered by Robo-Linkers ๐Ÿค– 2025

๐Ÿค– Meet the Team! ๐Ÿค


๐Ÿ“ง Contact Information


๐Ÿ“ Attribution

Robot icons created by Freepik - Flaticon Invoice icons created by Freepik - Flaticon Coding icons created by Freepik - Flaticon Document icons created by Freepik - Flaticon Pcb board icons created by madness - Flaticon Schematic icons created by Iconjam - Flaticon Software development icons created by kliwir art - Flaticon